Design and Control of a Compliant Parallel Manipulator
نویسندگان
چکیده
منابع مشابه
Design and Control of a Compliant Parallel Manipulator
We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane....
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DEDICATION I would like to dedicate this thesis to my parents, Andrea Tosi and Steve Cummings. They have been a constant source of motivation and support through my entire life. Without them I would not have been able to have finished the work that I have. I would also like to dedicate this to the rest of my family, especially Morgan and Sam, and friends that have helped me every step of the wa...
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This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...
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ژورنال
عنوان ژورنال: Journal of Mechanical Design
سال: 2002
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.1517568